From 5989674a1165c07c508e80ea2a2dbdfc782f384f Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 17 Feb 2024 20:55:31 +0000 Subject: [PATCH] DEC: Use modelV2.navEnabled for navigation instruction checks --- selfdrive/controls/lib/dynamic_experimental_controller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/dynamic_experimental_controller.py b/selfdrive/controls/lib/dynamic_experimental_controller.py index ef546eb71e..937458924f 100644 --- a/selfdrive/controls/lib/dynamic_experimental_controller.py +++ b/selfdrive/controls/lib/dynamic_experimental_controller.py @@ -131,7 +131,7 @@ class DynamicExperimentalController: self._has_mpc_fcw = self._mpc_fcw_gmac.get_moving_average() >= MPC_FCW_PROB # nav enable detection - self._has_nav_instruction = maneuver_distance / max(car_state.vEgo, 1) < 13 + self._has_nav_instruction = md.navEnabled and maneuver_distance / max(car_state.vEgo, 1) < 13 # lead detection self._lead_gmac.add_data(lead_one.status)